Modular prosthetics devices

ABSTRACT

Various examples are provided for modular prosthetic devices and their use. In one example, a device includes a chassis assembly including a joint portion; and an interchangeable module that can be removably attached to the chassis assembly. The interchangeable modules can be configured for use in a wide variety of applications. The interchangeable modules can be quickly exchanged for different activities.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a national stage entry pursuant to 35 U.S.C.§ 371 of International Application No. PCT/US2018/049085, filed on Aug.31, 2018, which claims the benefit of and priority to U.S. ProvisionalApplication No. 62/553,586, filed on Sep. 1, 2017 and entitled “MODULARPROSTHETICS DEVICES”, both of which are hereby incorporated by referenceherein in their entireties.

BACKGROUND

Prostheses can enhance the life of individuals who are missing one ormore limbs by providing movement, support, and other functionalitynormally provided by the missing limbs. The design of the prostheses canvary depending on the functional needs and the desired appearance. Forexample, lower extremity prosthetics can take a wide range ofimplementations depending on the application. Significantly differentimplementations can be needed to support different physical activities.This can result in the individual owning multiple prostheses that areexchanged depending on the situation.

SUMMARY

Aspects of the present disclosure are related to modular prosthetics. Inone aspect, among others, a modular prosthetic device comprises achassis assembly comprising a joint portion; and an interchangeablemodule configured to be removably attached to the chassis assembly. Inone or more aspects, the chassis assembly can be secured to a user byattaching the chassis assembly to an existing osseous implant orexisting prosthetic socket. The chassis assembly can be secured at aproximal end to the joint portion and the mount portion can be securedto a distal end of the chassis assembly.

The chassis assembly can comprise the joint portion, a structural frame,and a mounting portion. The structural frame can accept theinterchangeable module, where the interchangeable module can be securedto the chassis assembly via complementary mating slots and tabs on thestructural frame and the interchangeable module. The interchangeablemodule can be secured to the joint portion via a locking mechanism,where the locking mechanism can be engaged with the joint portion via alever and locking wedge. The locking mechanism can comprise a top snapconfigured to engage with the locking wedge to secure the joint portionto the interchangeable module. The top snap can be coupled to a dampingmechanism of the interchangeable module. The damping mechanism can be apiston assembly. In various aspects, the chassis assembly can beconfigured to accept removable prosthetic modules attached to themounting portion. The interchangeable module can comprise a damperdriven mechanism. The modular prosthetic device can be selected from aleg, a lower leg, an arm, and a forearm. The joint portion can besecurely attached to an existing osseous implant or existing prostheticsocket.

In one or more aspects, the joint portion can comprise a rotatablemounting plate configured to be secured to an implant or prostheticsocket of a user; and the interchangeable module can comprise a lockingmechanism configured to engage an open cavity of the rotatable mountingplate to secure it in a load bearing position. The locking mechanism cancomprise a pair of flanges configured to engage with a surface of theopen cavity to secure the rotatable mounting plate in the load bearingposition. The pair of flanges can tilt inward towards each other tofacilitate insertion in the open cavity, and can flex outward to engagewith the surface of the open cavity. The rotatable mounting plate cancomprise a locking wedge that forces the pair of flanges to flex outwardwhen inserted between the pair of flanges. The rotatable mounting platecan comprise a lever that forces the locking wedge between the pair offlanges when rotated from an extend position to a locked position. Invarious aspects, the chassis assembly can comprise an anchor on a modulemounting surface at a distal end of the chassis assembly, and theinterchangeable module can comprise a corresponding recess configured toalign with the anchor when the interchangeable module is inserted intothe chassis assembly. The interchangeable module and structural frame ofthe chassis assembly can comprise mounting ridges and mounting groovesconfigured to secure the interchangeable module in the structural frame.

Other systems, methods, features, and advantages of the presentdisclosure will be or become apparent to one with skill in the art uponexamination of the following drawings and detailed description. It isintended that all such additional systems, methods, features, andadvantages be included within this description, be within the scope ofthe present disclosure, and be protected by the accompanying claims. Inaddition, all optional and preferred features and modifications of thedescribed embodiments are usable in all aspects of the disclosure taughtherein. Furthermore, the individual features of the dependent claims, aswell as all optional and preferred features and modifications of thedescribed embodiments are combinable and interchangeable with oneanother.

BRIEF DESCRIPTION OF THE DRAWINGS

Further aspects of the present disclosure will be more readilyappreciated upon review of the detailed description of its variousembodiments, described below, when taken in conjunction with theaccompanying drawings. The components in the drawings are notnecessarily to scale, emphasis instead being placed upon clearlyillustrating the principles of the present disclosure.

FIGS. 1A-1G provide computer generated views of an example of a modularprosthetic device, in accordance with various embodiments of the presentdisclosure. FIG. 1A is a top view, FIGS. 1B and 1D are side views, FIG.1C is a front view, FIG. 1F is a rear view and FIGS. 1E and 1G areorthogonal views.

FIG. 2 provides a computer generated exploded view of an example of achassis assembly and an interchangeable module of the modular prostheticdevice of FIGS. 1A-1G, in accordance with various embodiments of thepresent disclosure.

FIGS. 3A-3D provide computer generated views (top, front, side, andorthogonal, respectively) of an example of the chassis assembly of themodular prosthetic device of FIGS. 1A-1G, in accordance with variousembodiments of the present disclosure.

FIG. 4 provides a computer generated exploded view of an example of thechassis assembly of FIGS. 3A-3D, in accordance with various embodimentsof the present disclosure.

FIGS. 5A-5D provide computer generated views of an example of aninterchangeable module (top, front, side, and orthogonal, respectively)of the modular prosthetic device of FIGS. 1A-1G, in accordance withvarious embodiments of the present disclosure.

FIGS. 6A and 6B provide a computer generated view of an example of theinterchangeable module of FIGS. 5A-5D, in accordance with variousembodiments of the present disclosure. The A-A axis in FIG. 6A indicatesthe location of a cross-section through the module casing, exposing theinterior of the module shown in FIG. 6B, where the damper driven portionof the interchangeable is located.

FIGS. 7A and 7B provide a computer generated example of anothercross-section of the interchangeable module of FIGS. 5A-5D, inaccordance with various embodiments of the present disclosure.

FIGS. 8A-8C, 9A-9C, 10A-10F, 11A-11C, and 12A-12D illustrate an exampleof the process of installing the interchangeable module into the chassisassembly of the modular prosthetic device of FIGS. 1A-1G, in accordancewith various embodiments of the present disclosure.

DETAILED DESCRIPTION

Before the present disclosure is described in greater detail, it is tobe understood that this disclosure is not limited to particularembodiments described, and as such may, of course, vary. It is also tobe understood that the terminology used herein is for the purpose ofdescribing particular embodiments only, and is not intended to belimiting, since the scope of the present disclosure will be limited onlyby the appended claims.

Where a range of values is provided, it is understood that eachintervening value, to the tenth of the unit of the lower limit unlessthe context clearly dictates otherwise, between the upper and lowerlimit of that range and any other stated or intervening value in thatstated range, is encompassed within the disclosure. The upper and lowerlimits of these smaller ranges may independently be included in thesmaller ranges and are also encompassed within the disclosure, subjectto any specifically excluded limit in the stated range. Where the statedrange includes one or both of the limits, ranges excluding either orboth of those included limits are also included in the disclosure.

Unless defined otherwise, all technical and scientific terms used hereinhave the same meaning as commonly understood by one of ordinary skill inthe art to which this disclosure belongs. Although any methods andmaterials similar or equivalent to those described herein can also beused in the practice or testing of the present disclosure, the preferredmethods and materials are now described.

All publications and patents cited in this specification are hereinincorporated by reference as if each individual publication or patentwere specifically and individually indicated to be incorporated byreference and are incorporated herein by reference to disclose anddescribe the methods and/or materials in connection with which thepublications are cited. The citation of any publication is for itsdisclosure prior to the filing date and should not be construed as anadmission that the present disclosure is not entitled to antedate suchpublication by virtue of prior disclosure. Further, the dates ofpublication provided could be different from the actual publicationdates that may need to be independently confirmed.

As will be apparent to those of skill in the art upon reading thisdisclosure, each of the individual embodiments described and illustratedherein has discrete components and features which may be readilyseparated from or combined with the features of any of the other severalembodiments without departing from the scope or spirit of the presentdisclosure. Any recited method can be carried out in the order of eventsrecited or in any other order that is logically possible.

Embodiments of the present disclosure will employ, unless otherwiseindicated, techniques of mechanical engineering, biomedical engineering,material science, and the like, which are within the skill of the art.

The following examples are put forth so as to provide those of ordinaryskill in the art with a complete disclosure and description of how toperform the methods and use the devices disclosed and claimed herein.Efforts have been made to ensure accuracy with respect to numbers (e.g.,amounts, temperature, etc.), but some errors and deviations should beaccounted for.

Before the embodiments of the present disclosure are described indetail, it is to be understood that, unless otherwise indicated, thepresent disclosure is not limited to particular materials,configurations, manufacturing processes, or the like, as such can vary.It is also to be understood that the terminology used herein is forpurposes of describing particular embodiments only, and is not intendedto be limiting. It is also possible in the present disclosure that stepscan be executed in different sequence where this is logically possible.

It must be noted that, as used in the specification and the appendedclaims, the singular forms “a,” “an,” and “the” include plural referentsunless the context clearly dictates otherwise.

The present disclosure illustrates devices and systems for modularprosthetics. A prosthetic for amputees such as, e.g., above knee, belowknee, above elbow, and/or below elbow, foot prosthetics can comprise anexternal chassis (or structural frame) in which prosthetistpractitioners can set up a module or modular component allowingutilization of a specific application. The module or modular componentcan be inserted into the chassis and/or removed at will by the user thusallowing for multiple types of “modules” to be utilized for differentapplications in the same chassis. These modules can comprise amechanical linkage reacting to forces implemented upon them by theengagement of the chassis. The chassis will accept modules that may beutilizing polymers, magnetics, micro-processing units and or shockabsorbers. Modules can be inserted into the chassis in various ways ofdesign either by snapping, clamping, magnetic or setting (resting) intothe chassis itself from either the side, front, back or top insertion.The integration of many specific individual modules into a singlechassis would allow a user(s) to have the freedom to switch out at anygiven point or time he or she may feel necessary to adapt toenvironmental changes, changes in terrain or changes in specific appliedforces. This ability ito adjust gives a user(s) the option of multipleprosthetic choices or solutions in one prosthetic device. The chassisitself can be mounted to an existing or new prosthetic part either aboveor below allowing for the integration of various modules to beimplemented & utilized.

The present disclosure illustrates devices and systems for modularprosthetics that can be used for joints such as knees or elbows.Beginning with FIGS. 1A-1G, shown is an example of a modular prosthetic100 that can be used as a knee joint. FIG. 1A is a top view, FIG. 1B isa right side view, FIG. 1C is a front view, FIG. 1D is a left side view,FIG. 1F is a rear view and FIGS. 1E and 1G provide perspective views ofthe prosthetic 100. The prosthetic 100 includes a chassis assembly 102which can be coupled to a socket or other attachment device for use by auser. Interchangeable modules 104 for specific activities orenvironments can then be inserted into or attached to the chassisassembly 102. The prosthetic device allows for many levels ofcustomization and can be easily changed by the user to suit his/herneeds. Advantageously, the chassis assembly 102 is load bearing and canattach at the proximal end to an existing osseous implant or prostheticsocket of the user, eliminating the need for additional surgicalprocedures or costly new socket fittings. At the distal end, the chassisassembly 102 can include a mounting portion 106, which can be customizedfor the user's height. The mounting portion 106 can include a plate andscrew adapter that can be modified to attach to a prosthetic attachmentsuch as, but not limited to, artificial hands and feet. In the case ofthe lower leg example of FIGS. 1A-1E, the prosthetic attachment caninclude virtually any foot and/or pylon system available. An advantageto this configuration is that the user can incorporate existing foot andpylon configurations (e.g., running blades, skates, skis, cycling feet,etc.) already available on the market, eliminating the need for furthercustomization and maximizing options.

Embodiments of the present disclosure include a custom chassis assembly102 configured to accept interchangeable modules 104. In variousembodiments, the prosthetic device 100 of the disclosure can be a limbor portion of a limb. In various embodiments, the interchangeablemodules 104 can be designed to insert inside the chassis assembly 102,and can be secured using fastening mechanisms such as magnets, snaps,tabs, button clips, or other appropriate securing mechanisms.

In various embodiments, the interchangeable modules 104 can beconfigured to aid the user in adapting to the demands of specificactivities, terrains, or environments. The interchangeable modules 104can include damping devices, pistons, shock absorption mechanisms, orother types of suspension and control mechanisms. In someimplementations, the interchangeable modules can include the ability toattach (e.g., snap, clamp, etc.) other compartments and/or componentsfor specific applications (e.g., military or civilian such as a golfball holder, etc.) to the module.

In various embodiments, the chassis assembly 102 can attach to the userat above-knee level. The chassis assembly 102 includes a joint portion108 such as, e.g., a knee portion which can attach to the user'sexisting interosseous implant or prosthetic socket via an attachmentmechanism such as, e.g., a plate. Other attachment mechanisms can beutilized for attaching the joint portion 108 directly to the userwithout a plate using, e.g., torque connectors, transcutaneousconnectors, sliding locks, threaded pipes, button clips, and/or collarlocks depending upon the type of ossteointegrated implant or socket inuse. The joint portion 108 can be pivotally affixed to the structuralframe of the chassis assembly 102 as illustrated in FIGS. 1A, 1B, 1C and1E. The joint portion 108 can also include a mechanism (e.g., a leverand wedge, cam shaft, latch, pin, collar lock or other appropriatesecuring mechanism) for attaching and locking the interchangeable moduleinto place. In some embodiments, the joint portion 108 is fastened tothe structural frame of the chassis assembly using shoulder bolts andbarrel nuts while not loading the threads of the fasteners in shear. Insome embodiments, the chassis assembly 102 can be posteriorly convex inshape to mimic the shape of the calf. The module 104 can be shaped toconform to the shape of the chassis assembly 102. The module 104 can beretained within the open structural frame or can be molded to overlap aportion of the structural members of the chassis assembly 102. Theexposed portion at the front of the module 104 can mimic the shape ofthe shin of the leg. In various embodiments, the chassis assembly 102can be made from titanium, polymers, carbon fibers, aluminum, stainlesssteel, or combinations thereof.

FIGS. 1A-1G provide various views of an example of a modular prostheticdevice 100 of the disclosure, demonstrating the chassis assembly 102 andthe interchangeable module 104. In the example shown in FIGS. 1A-1G, theinterchangeable module 104 is installed in the chassis assembly 102 andis shown engaged in the standing position. As can be seen, thestructural frame of the chassis assembly 102 can be an open frameworkcomprising a combination of structural members such as, e.g., horizontaland vertical structural members (or longitudinal and circumferentialstructural members). The combination of vertical and horizontal memberscan be arranged to transfer load forces between the mounting portion 106and the joint portion 108, without exposing the module 104 to unduestress. The vertical and horizontal members can be shaped to approximatevarious body parts, while being able the handle the stresses imposed byuse of prosthetic 100. For example, the structural frame can include twovertical side members 202 and a vertical central member 204 extendingbetween a lower (or distal) mounting base 206 and upper (or proximal)attachment fixtures 208 for the joint portion 108. The vertical side andcentral members 202 and 204 can be curved or shaped to allow forinsertion of an interchangeable module 104 into the framework.

In the side views of FIGS. 1B and 1D, the vertical side members 202extend from the attachment fixtures 208 to the mounting base 206 onopposite sides of a longitudinal axis of the modular prosthetic 100. Asshown in the front view of FIG. 1C, the vertical side members 202 curveoutward as they extend between the proximal and distal ends. This canalso be seen in the rear view of FIG. 1F. As illustrated in FIG. 1F, thecentral member 204 can extend from the mounting base 206 towards thejoint portion 108. The central member 204 can include two arms thatseparate and extend to the attachment fixtures 208 to avoid interferencewith the joint portion 108. As shown in the side views of FIGS. 1B and1D, the central member 204 can bend outward and then curve back inwardas the two arms extend toward the attachment fixtures 208. One or morehorizontal members 210 can extend between the vertical side members 202,and over the central member 204 to avoid distortion when pressure isapplied to the prosthetic device 100. As can be seen in the example ofFIGS. 1A-1G, the shapes of the vertical side members 202 and the centralmember 204 mimic the shape of the physical limb and allow sufficientspace for the operating mechanisms of the interchangeable modules 104.

At the upper or proximal end, the chassis assembly 102 includes thejoint portion 108, which is pivotally attached to the structural framevia the attachment fixtures 208 to allow for rotational motion of themounting plate 212 (or other attachment mechanism) with respect to thestructural frame. In the example of FIGS. 1A-1G, two pivot arms 214extend from the mounting plate 212 and fit between the attachmentfixtures 208. The location and orientation of the pivot arms 214 on themounting plate 212 can be designed to allow for movement that mimicsthat of a natural joint, while allowing for operation of the installedmodule 104. The attachment fixtures 208 and pivot arms 214 includeopenings or holes that can be aligned to pivotally attach the jointportion to the structural frame. Fasteners such as, e.g., shoulder boltsand barrel nuts can extend through the openings to secure the jointportion 108 to the structural frame. In other implementations, theopenings in either the attachment fixtures 208 or pivot arms 214 can bethreaded to receive a bolt or screw passing through the opening in thepivot arm 214 or attachment fixture 208 to movably attach the jointportion 108 to the structural frame. The fasteners can be configured toprevent loosening of the connection between the attachment fixtures 208and pivot arms 214 to avoid accidental disconnection during use of theprosthetic 100. One or more spacers or bushings can be positionedbetween the pivot arms 214 and attachment fixtures 208 (e.g., on thebolt, screw, or other fastener) to facilitate alignment and/or properclearance. In addition, spacers (e.g., sleeves or bushings made fromnylon, PTFE, or other appropriate material) can be included in theopenings of the attachment fixture 208 and/or pivot arm 214 around thefastener to facilitate smooth movement of the pivot point.

In the example of FIGS. 1A-1G, the mounting plate 212 is shown with asubstantially planar mounting surface for attachment to the socket orimplant of the user, however other surface contours can also beprovided. As shown in the top view of FIG. 1A, openings can pass throughthe mounting plate 212 to reduce weight while maintaining structuralstrength and integrity. The mounting plate 212 can include holes and/oropenings to allow the joint portion 108 to be secured to the socket orimplant of the user. In some implementations, an adapter can be affixedto the mounting plate 212 to allow the prosthetic 100 to be adjust fordifferent socket or implant configurations. The mounting plate 212 isconfigured to attach to the module 104 opposite the implant mountingsurface as will be discussed.

At the lower or distal end, the chassis assembly 102 includes themounting base 206, to which the mounting portion 106 can be attached. Aswill be discussed, the interchangeable module 104 can rest upon themounting base 206 opposite the mounting portion 106 when installed inthe chassis assembly 102. The mounting base 206 includes a base mountingsurface configured to secure the mounting portion 106 to the mountingbase 206. The mounting base 206 also includes a module surface oppositethe base mounting surface that can receive one end of theinterchangeable module 104. The module surface can be substantiallyplanar as illustrated in FIG. 2, or can be shaped to match the contourof the end of the module 104. The chassis assembly 102 including themounting base 206, structural frame with vertical and horizontalmembers, and attachment fixtures 208 can be fabricated as a singleintegral piece with the vertical side and central members 202 and 204extending between the mounting base 206 and the attachment fixtures 208.In the example of FIGS. 1A-1G, a horizontal member 210 extends across anouter edge of the mounting base 206 between the two vertical sidemembers 202. For example, the chassis assembly can be cast as a singleunit and machined to the desired dimensions for use.

FIG. 2 shows an example of the modular prosthetic device 100 with thechassis assembly 102 and the interchangeable module 104 in a detachedposition. An example of the interchangeable module 104 is illustrated.As shown, the module 104 can include a module casing 302 shaped toconform to the inner shape of the chassis assembly 102. The innersurface of the structural frame can also be contoured (e.g., flattenedor recessed) to match the outer surface of the module casing 302 asshown in FIG. 2. The chassis assembly 102 can include tabs and/orgrooves that can align with corresponding features on theinterchangeable modules 104 to secure the module 104 in place. Forexample, the mounting base 206 can include an anchor (or recess) 216 onthe module surface which can be aligned with a corresponding recess (oranchor) on the bottom or end of the interchangeable module 104. Thevertical side members 202 can also include mounting grooves and/or tabs218 that can align with mounting ridges and/or depressions (or tabsand/or grooves) 304 on the sides of the module 104 to hold the module104 in position. The mounting ridges and/or depressions 304 can snapinto/onto the mounting grooves and/or tabs 218 of the structural framefor secure attachment of the module 104.

Referring to FIGS. 3A-3D, shown are various views of the chassisassembly 102 without an interchangeable module 104 installed. FIG. 3Ashows a top view, FIG. 3B shows a front view, FIG. 3C shows a left sideview, and FIG. 3D shows a perspective view of the chassis assembly 102.As can be seen in FIG. 3B, the grooves and/or tabs 218 align with one ofthe horizontal members 210. This can provide additional rigidity andstrength for securing the interchangeable modules 104 in place. Inaddition, FIG. 3B illustrates the vertical central member 204 with twoarms 222 that separate and extend to the attachment fixtures 208 toavoid interference with the joint portion 108. The shape of the arms 222can be designed to handle the stress and strain placed on the structuralframe during use.

Referring back to FIG. 2, an example of the interchangeable module 104is illustrated. The module 104 includes a locking mechanism 306 thatengages with the joint portion 108 to couple or engage the functionalityof the module 104 with the chassis assembly 102. FIG. 4 shows anexploded view of the chassis assembly 102 including the joint portion108, the structural frame 220, and the mounting portion 106. The jointportion 108 can include the mounting plate 212 (or other attachmentmechanism) with two pivot arms 214 extending from one end of themounting plate 212. The pivot arms 214 are sized to fit between theattachment fixtures 208, and both include openings or holes that can bealigned with corresponding opening or holes in the attachment fixtures208 to allow the joint portion 108 to pivotally attach to the attachmentfixtures 208 of the structural frame 220. Fasteners such as, e.g.,shoulder bolts 402 and barrel nuts 404 can extend through the openings.Spacers and/or sleeves can be used to ensure proper alignment of thejoint portion 108, and can be used to reduce friction. The joint portion108 also includes a lever 406 and locking wedge 408, which facilitatecoupling of the locking mechanism 306 of the interchangeable module 104to the mounting plate 212. The lever 406 can be pivotally attached tothe mounting plate 212 using, e.g., a recessed screw 410, bolt or otherappropriate fastener. The lever 406 acts as a camshaft that linearlydisplaces the locking wedge 408 into the locking mechanism 306 byrotating the lever 406 about the screw 410, the tab at the proximal endmoves the locking wedge 408 forward to engage with the top flap orflanges of the locking mechanism 306, thereby securing the module 104 tothe joint portion 108.

The chassis assembly 102 includes the mounting portion 106, which can bedetachably attached to the mounting base 206 of the structural frame 220as illustrated in FIG. 4. The mounting portion 106 can include amounting adapter 502 that can be secured to the mounting base 206 viaone or more screws (e.g., 4 flat head hex drive stainless screws) orother appropriate fasteners 504. The mounting portion 106 may also beattached using other appropriate mounting methods such as, e.g., asliding or rotating lock assembly. For example, a ball lock may beutilized. In various embodiments, the mounting portion 106 can bedeveloped by a prosthetist to fit the user. At the distal end of themounting portion 106, a lock and plate mechanism 506 can be fitted toprovide a standardized fitting to attach virtually any foot and pylonsystems (e.g., foot/ankle system, sprinting blades, cycling clip footmounts, inflexible mounts, or elastic keel feet designed for particularactivities) available to the user. Other attachment mechanisms can befitted to accommodate various foot configurations, e.g., torqueconnectors, transcutaneous connectors, sliding locks, threaded pipes,button clips, and/or collar locks. Hand and/or other attachments mayalso be utilized for arm prosthetics.

Referring next to FIGS. 5A-5D, shown is an example of an interchangeablemodule 104. The interchangeable module 104 can take various forms (e.g.,damper driven, robotic, computer controlled, etc.). For instance,shock/piston, EVA (e.g., rubber and/or polymer), microprocessor units(MPUs) or other components can be included in the interchangeablemodules 104 to create a specialized unit or module to provide a specificresult in applied applications.

In FIGS. 5A-5D, an example of a damper driven module 104 is illustrated.In various embodiments, the damper can be, e.g., hydraulic, pneumatic,electromagnetic, spring, etc. In various embodiments, theinterchangeable module 104 can include a module casing 302, a lockingmechanism 306, and a pivot point (or recess) 308 (FIG. 6B), which can beincorporated into the module casing 302. The locking mechanism 306 caninclude a top snap or flanges 310, which engage with the locking wedge408 (FIG. 4) affixed to the mounting plate 212. The top snap can beconfigured to secure the interchangeable module 104 into the chassisassembly 102. As shown in FIG. 5A, the top snap of the locking mechanism306 includes opposing flanges 310 that are angled inward toward eachother. The flanges 310 are flexibly connected to the end of the modulecasing 302 opposite the pivot point 308. The connection allows theflanges 310 to flex outward, away from each other to engage with themounting plate 212. In various embodiments, the interchangeable module104 can be made from titanium, polymers, carbon fibers, aluminum,stainless steel, or combinations thereof.

FIGS. 6A and 6B illustrate a cross-sectional view of the damper drivenmodule 104. The module casing 302 can enclose the interior mechanisms,such as the damper assembly 312 in an internal void 314. As shown inFIG. 6A, the cross-section (A-A) is taken along the centerline of themodule 104 from the front side to the rear side between the two flanges310 of the locking mechanism 306. The cross-sectional view A-A ispresented in FIG. 6B. In the example of FIGS. 6A and 6B, the damperassembly 312 comprises a piston in a cylinder 316. Movement of thepiston in the cylinder 316 is dampened by the fluid (e.g., oil, water,air or other suitable hydraulic or pneumatic fluid) in the cylinder 316.The amount of damping provided by the damper assembly 312 can beaffected by the viscosity of the fluid, size of the cylinder 316, sizeof the piston, clearance between the piston and cylinder wall, or otherappropriate design variable. The damping assembly 312 is connected tothe locking mechanism 306 by a piston rod 318 that passes through anopening 320 in the module casing 302. The connection between the pistonrod 318 and locking mechanism 306 is configured to rotate (e.g., about aconnecting pin). As shown in the enlarged view of FIG. 6B, the top snapis connected to the module casing 302 at one end, while the other end iscoupled to the piston rod 318 to a surface of the top snap opposite theflanges 310. For example, tabs can extend on both sides of the pistonrod 318 with a connection pin extending through both the tabs and thepiston rod. As the top snap moves about the connection point, themovement is transmitted to the piston, which moves within the cylinder316. Such movement can dampen the effect of force applied to the mountplate 212 by the user. The opposite end of the cylinder 316 is alsoconfigured to rotate about a connection pin or shaft, which can extendacross the module casing 302 through the internal void 314. Thisrotation can maintain alignment of the piston rod 318 in the damperassembly 312 as the top snap moves about the connection to the modulecasing 302.

FIGS. 7A and 7B illustrate another cross-sectional view of the damperdriven module 104. As shown in FIG. 7A, the cross-section (F-F) isperpendicular to cross-section A-A of FIG. 6A and extends across themodule 104 from the left side to the right side and passes through theflanges 310. The cross-sectional view F-F is presented in FIG. 7B, whichshows the internal void 314 of the module casing 302 and a portion ofthe cylinder 316 of the damper assembly 312. Detail AC illustrates therelationship of the top snap or flanges 310 of the locking mechanism 306and detail C shows the positioning of the top snap or flanges 310 on themodule casing 302. As seen in detail AC, narrow sections are provided atthe lower corners of the flanges 310 to allow for flexing and outwardmovement. Detail C shows a side view of the flexible connection with themodule case 302. Magnetic ball, snap fit, or likewise can be used.

In various embodiments, the user can easily secure the interchangeablemodule 104 into the chassis assembly 102 without assistance. FIGS.8A-13C illustrate an example of the process of installing theinterchangeable module 104 into the chassis assembly 102. In FIGS.1A-1G, the modular prosthetic 100 has been illustrated with the jointportion 108 in a standing position where the prosthetic would be loadbearing with the mounting plate 212 substantially perpendicular to alongitudinal axis of the chassis assembly 102. To insert aninterchangeable module 104, the user assumes a non-load bearing position(e.g., sitting), and loosens the lever 406 (e.g., rotating it outward)on the joint portion 108 of the chassis assembly 102, allowing the jointportion 108 to pivot into an open position as illustrated in FIGS.8A-8C. In this position, the mounting plate 212 can be positionedsubstantially parallel with the longitudinal axis of the chassisassembly 102 as shown in FIGS. 8A-8C. FIG. 8A is a front view of theinterchangeable module 104 being aligned with the anchor 216 of thechassis assembly 102. The lever 406 is shown rotated outward therebyallowing the locking wedge 408 to move to a retracted position. Thecross-section G-G passing along the longitudinal axis, from front torear, is shown In FIG. 8B. The interchangeable module 104 can beinserted at an angle into the chassis assembly 102 with the anchor 216on the mounting base 206 aligned with the pivot point (or recess) 308 onthe bottom of the module casing 302 as shown in FIG. 8B. This alignmentbetween the anchor 216 and recess 308 is enlarged in detail AD. Thecorner of the module casing 302 can rest on the surface of the mountingbase 206 as shown in FIG. 8C while positioning the pivot point 308 onthe anchor 216.

The module 104 can then be rotated about the pivot point 308 and anchor216 into the structural frame 220. As the interchangeable module 104rotates about the anchor 216 and moves into the structural frame 220,the mounting ridges (or tabs) 304 on the sides of the module 104 contactthe mounting grooves (or slots) 218 in the vertical side members 202 ofthe structural frame as illustrated in FIGS. 9A-9C. Detail F is anenlarged view illustrating the engagement of the mounting ridges (ortabs) 304 with the mounting grooves (or slots) 218. The cross-sectionD-D passing through one of the vertical side members 202 of thestructural frame 220 is shown in FIG. 9B, where the mounting ridge (ortab) 304 is in contact with the vertical side member 202 prior toinsertion into the mounting groove (or slot) 304. This is enlarged indetail E of FIG. 9B. Applying sufficient pressure to the front of theinterchangeable module 104, the mounting ridges (or tabs) 304 can beinserted into the corresponding mounting grooves (or slots) 218. As canbe appreciated, the vertical side members 202 of the structural framecan include mounting ridges (or tabs) and the module casing 302 caninclude mounting grooves (or slots) to provide the engagement.

A snap fit can be achieved upon insertion of the interchangeable module104 into the chassis assembly 102, providing an easy but secureassembly, as shown in FIGS. 10A-10C. The cross-section G-G of FIG. 10Apasses through the same vertical side member 202 as in FIG. 9B. As isshown in FIG. 10B, the mounting ridge (or tab) 304 is snapped into themounting groove (or slot) 304. This is enlarged in detail H of FIG. 10B.FIG. 10C shows the interchangeable module 104 secured in the structuralframe 220 by the mounting ridges 304 in the mounting grooves 218.Application of force on the rear of the module 104, through thestructural frame 220, can unsnap the interchangeable module 104 from thechassis assembly 102. FIGS. 10D, 10E and 10F show front, side andperspective views of the chassis assembly 102 with the interchangeablemodule 104 snapped in position and the mounting portion 106 attached tothe mounting base 206.

With the interchangeable module 104 snapped into position, the user canstand up (or extend the leg) pivoting the joint portion 108 forward asillustrated in FIGS. 11A and 11B. In this position, the mounting plate212 is in a load bearing position substantially perpendicular to thelongitudinal axis of the chassis assembly 102. This motion will positionthe top snap of the locking mechanism 306 in line with the locking wedge408 of the joint portion 108, as shown in the example in FIGS. 11A-11C.The cross-sectional view K-K of FIG. 11A is presented in FIG. 11B, whichshows the internal void 314 of the module casing 302 and a portion ofthe cylinder 316 of the damper assembly 312. Detail L shows an enlargedhorizontal view of the locking wedge 408 aligned with the top snap orflanges 310 of the locking mechanism 306. FIG. 11C shows thecross-section S-S of FIG. 11A, with detail T providing an enlargedvertical view of the locking wedge 408 aligned with the top snap orflanges 310 of the locking mechanism 306. As shown in details L and T,with the mounting plate 212 rotated into position, the top snap orflanges 310 are located within an open cavity 322 of the mounting plate212. With the lever 406 extending outward as shown in FIGS. 11A and 11C,the distal end of the locking wedge 408 is adjacent to one end of thegap between the flanges 310. As can be seen in detail L, the inward tiltof the flanges 310 allow the top snap to easily align with the cavity322 in the mounting plate 212. The pre-bent snap fit allows for arelatively minimal insertion and removal force.

Next, as shown in FIGS. 12A-12D, the lever 406 can be rotated flush withthe front of the mounting plate 212. As the lever 406 is rotated about90 degrees, the short tab presses against the end of the locking wedge408. The lever action of this motion linearly displaces the lockingwedge 408 into the top snap of the locking mechanism 306, spreading theflanges 310 of the top snap as the locking wedge 408 is forced betweenthem. As the arms expand, they are forced apart enough to encompass theentire cavity 322 in the mounting plate 212. FIG. 12B shows thecross-sectional view M-M and FIG. 12C shows the cross-sectional view N-Nindicated in FIG. 12A. As shown in details O and P, the top snap orflanges 310 are forced apart and engage with the outer surface of thecavity 322. With the locking wedge 408 inserted between the ends of theflanges 301, the flanges 301 can provide a friction fit with the sidesof the open cavity 322 thereby locking the mounting plate 212 to themodule 104. When the top snap or flanges 310 is fully installed andlocked, the joint portion 108 locks in the XYZ coordinates, as shown inFIG. 12C. The cross-section Y-Y, and the enlarged detail Z, of FIG. 12Dillustrates the positioning of the top snap or flanges 310 of thelocking mechanism 306 with the lever 406 in the locked position with thelocking wedge 408 secured between the flanges 310.

To uninstall the interchangeable module, the user will repeat theprocess in reverse. The lever 406 can be rotated outward allowing thelocking wedge 408 to retract from between the flanges 310. The jointportion 108 can then be pivoted into an open position as illustrated inFIGS. 10A-10D, and the interchangeable module 104 removed from thestructural frame 220 as previously discussed. Another module 104 canthen be inserted and secured into position.

It should be emphasized that the above-described embodiments of thepresent disclosure are merely possible examples of implementations, andare set forth only for a clear understanding of the principles of thedisclosure. Many variations and modifications may be made to theabove-described embodiments of the disclosure without departingsubstantially from the spirit and principles of the disclosure. All suchmodifications and variations are intended to be included herein withinthe scope of this disclosure.

We claim at least the following:
 1. A modular prosthetic device, comprising: a chassis assembly comprising a joint portion, a structural frame, and a mounting portion; and an interchangeable module configured to be removably attached to the chassis assembly, wherein the structural frame accepts the interchangeable module, the interchangeable module secured to the chassis assembly via complementary mating slots and tabs on the structural frame and the interchangeable module, and the interchangeable module is further secured to the joint portion via a locking mechanism, wherein the locking mechanism is engaged with the joint portion via a lever and locking wedge.
 2. The device of claim 1, wherein the locking mechanism comprises a top snap configured to engage with the locking wedge to secure the joint portion to the interchangeable module.
 3. The device of claim 2, wherein the top snap is coupled to a damping mechanism of the interchangeable module.
 4. The device of claim 3, wherein the damping mechanism is a piston assembly.
 5. The device of claim 1, wherein: the joint portion comprises a rotatable mounting plate configured to be secured to an implant or prosthetic socket of a user; and the interchangeable module comprises a locking mechanism configured to engage an open cavity of the rotatable mounting plate to secure it in a load bearing position.
 6. The device of claim 5, wherein the locking mechanism comprises a pair of flanges configured to engage with a surface of the open cavity to secure the rotatable mounting plate in the load bearing position.
 7. The device of claim 5, wherein the chassis assembly comprises an anchor on a module mounting surface at a distal end of the chassis assembly, and the interchangeable module comprises a corresponding recess configured to align with the anchor when the interchangeable module is inserted into the chassis assembly.
 8. A modular prosthetic device, comprising: a chassis assembly comprising a joint portion and a structural frame, wherein the joint portion comprises a rotatable mounting plate configured to be secured to an implant or prosthetic socket of a user; and an interchangeable module configured to be removably attached to the chassis assembly, wherein the interchangeable module comprises a locking mechanism configured to engage an open cavity of the rotatable mounting plate to secure it in a load bearing position, wherein the locking mechanism comprises a pair of flanges configured to engage with a surface of the open cavity to secure the rotatable mounting plate in the load bearing position, wherein the pair of flanges tilt inward towards each other to facilitate insertion in the open cavity, and flex outward to engage with the surface of the open cavity.
 9. The device of claim 8, where the interchangeable module comprises a damper driven mechanism.
 10. The device of claim 8, wherein the modular prosthetic device is selected from a leg, a lower leg, an arm, and a forearm.
 11. The device of claim 8, wherein the joint portion is configured to be attached to an osseous implant or prosthetic socket.
 12. The device of claim 8, wherein the rotatable mounting plate comprises a locking wedge that forces the pair of flanges to flex outward when inserted between the pair of flanges.
 13. The device of claim 12, wherein the rotatable mounting plate comprises a lever that forces the locking wedge between the pair of flanges when rotated from an extend position to a locked position.
 14. A modular prosthetic device, comprising: a chassis assembly comprising a joint portion and a structural frame; and an interchangeable module configured to be removably attached to the chassis assembly, wherein the interchangeable module and structural frame of the chassis assembly comprise mounting ridges and mounting grooves configured to secure the interchangeable module in the structural frame.
 15. The device of claim 14, wherein the chassis assembly is configured to be secured to an osseous implant or prosthetic socket.
 16. The device of claim 14, wherein the chassis assembly comprises the joint portion, the structural frame, and a mounting portion.
 17. The device of claim 16, wherein the joint portion is secured at a proximal end of the chassis assembly and the mounting portion is secured to a distal end of the chassis assembly.
 18. The device of claim 16, wherein the structural frame accepts the interchangeable module, the interchangeable module secured to the chassis assembly via complementary mating slots and tabs on the structural frame and the interchangeable module.
 19. The device of claim 16, wherein a prosthetic attachment is attached to the mounting portion.
 20. The device of claim 14, where the interchangeable module comprises a damper driven mechanism. 